// Start is called before the first frame update
void Start()
{
_controller = GetComponent <PreMaid.RemoteController.PreMaidControllerSPUP>();
List <TMP_Dropdown.OptionData> serialPortNamesList = new List <TMP_Dropdown.OptionData>();
var portNames = SerialPortUtility.SerialPortUtilityPro.GetConnectedDeviceList(SerialPortUtility.SerialPortUtilityPro.OpenSystem.BluetoothSSP);
if (portNames != null)
{
foreach (var VARIABLE in portNames)
{
TMP_Dropdown.OptionData optionData = new TMP_Dropdown.OptionData(VARIABLE.SerialNumber);
serialPortNamesList.Add(optionData);
Debug.Log(VARIABLE);
}
_serialPortsDropdown.ClearOptions();
_serialPortsDropdown.AddOptions(serialPortNamesList);
}
else
{
// Android実機でのデバッグ用
serialPortNamesList.Add(new TMP_Dropdown.OptionData("RNBT-4FFA"));
serialPortNamesList.Add(new TMP_Dropdown.OptionData("RNBT-50D6"));
serialPortNamesList.Add(new TMP_Dropdown.OptionData("RNBT-9C50"));
serialPortNamesList.Add(new TMP_Dropdown.OptionData("RNBT-94F6"));
_serialPortsDropdown.ClearOptions();
_serialPortsDropdown.AddOptions(serialPortNamesList);
_serialPortsDropdown.SetValueWithoutNotify(0);
}
// 上半身だけを操作対象とする
_controller.jointMask = (uint)(PreMaidControllerSPUP.JointMask.UpperBody);
// 関節速度制限
ModelJoint.SetAllJointsMaxSpeed(90f);
//対象のAnimatorにBoneにHumanoidModelJoint.csのアタッチ漏れがあるかもしれない
//なので、一旦全部検索して、見つからなかったサーボ情報はspineに全部動的にアタッチする
Transform spineBone = target.GetBoneTransform(HumanBodyBones.Spine);
//仮でspineにでも付けておこう
if (target != null)
{
var joints = target.GetComponentsInChildren <HumanoidModelJoint>();
foreach (PreMaidServo.ServoPosition item in Enum.GetValues(typeof(PreMaidServo.ServoPosition)))
{
if (Array.FindIndex(joints, joint => joint.TargetServo == item) == -1)
{
var jointScript = spineBone.gameObject.AddComponent <HumanoidModelJoint>();
jointScript.TargetServo = item;
}
}
// 手首だけは最高速度を高くしておく
var modeljoints = target.GetComponentsInChildren <ModelJoint>();
foreach (ModelJoint j in modeljoints)
{
if (j.ServoID == "15" || j.ServoID == "17")
{
j.maxSpeed = 180f;
}
}
}
_joints = target.GetComponentsInChildren <HumanoidModelJoint>();
}
// Start is called before the first frame update
void Start()
{
_preMaidPoseController = GetComponent <PreMaidControllerSPUP>();
_preMaidPoseController.OnReceivedFromPreMaidAI += OnReceivedFromPreMaidAi;
}
